In order to improve the diving efficiency of the penetrator, this paper uses the mass-spring system to establish the dynamic equation of the single-cycle diving process of the penetrator, obtains the optimal mass stiffness matching relationship for the efficient diving of the penetrator through the ergodic optimization method, and simulates its motion state in the working process based on ADAMS. Based on this, a high-performance lunar surface penetrator prototype was designed and tested. The test results show that the penetration efficiency of the new prototype is 63. 7% higher than the original one, and the stability is well. The motion of each component is coordinated, and the actual depth of the diving is in good agreement with theoretical and simulations, which is of good theoretical interest and important application value.